/*******************************************************************************
 (c) 2005-2014 Copyright, Real-Time Innovations, Inc.  All rights reserved.
 RTI grants Licensee a license to use, modify, compile, and create derivative
 works of the Software.  Licensee has the right to distribute object form only
 for use with RTI products.  The Software is provided "as is", with no warranty
 of any type, including any warranty for fitness for any purpose. RTI is under
 no obligation to maintain or support the Software.  RTI shall not be liable for
 any incidental or consequential damages arising out of the use or inability to
 use the software.
 ******************************************************************************/
using System;
using System.Collections.Generic;
using System.Text;
/* deadline_contentfilter_subscriber.cs

   A subscription example

   This file is derived from code automatically generated by the rtiddsgen 
   command:

   rtiddsgen -language C# -example <arch> deadline_contentfilter.idl

   Example subscription of type deadline_contentfilter automatically generated by 
   'rtiddsgen'. To test them, follow these steps:

   (1) Compile this file and the example publication.

   (2) Start the subscription with the command
       objs\<arch>\deadline_contentfilter_subscriber <domain_id> <sample_count>

   (3) Start the publication with the command
       objs\<arch>\deadline_contentfilter_publisher <domain_id> <sample_count>

   (4) [Optional] Specify the list of discovery initial peers and 
       multicast receive addresses via an environment variable or a file 
       (in the current working directory) called NDDS_DISCOVERY_PEERS. 

   You can run any number of publishers and subscribers programs, and can 
   add and remove them dynamically from the domain.
                                   
   Example:
        
       To run the example application on domain <domain_id>:
                          
       bin\<Debug|Release>\deadline_contentfilter_publisher <domain_id> <sample_count>  
       bin\<Debug|Release>\deadline_contentfilter_subscriber <domain_id> <sample_count>
              
       
modification history
------------ -------
*/

public class deadline_contentfilterSubscriber {

    public DateTime initialTime;

    public class deadline_contentfilterListener : DDS.DataReaderListener
    {
        DateTime initTime = DateTime.Now;

        public override void on_requested_deadline_missed(
            DDS.DataReader reader,
            ref DDS.RequestedDeadlineMissedStatus status)
        {
            deadline_contentfilterDataReader deadline_contentfilter_reader = (deadline_contentfilterDataReader)reader;

            // Get the date and time for the current moment, adjusted 
            // to the local time zone.
            DateTime currentTime = DateTime.Now;
            TimeSpan span = currentTime.Subtract(initTime);

            deadline_contentfilter dummy = new deadline_contentfilter();

            try
            {
                deadline_contentfilter_reader.get_key_value(
                    dummy, ref status.last_instance_handle);
            }
            catch (DDS.Exception e)
            {
                Console.WriteLine("get_key_value error {0}\n", e);
                return;
            }

            // Display the value and Kind property of the current moment 
            Console.WriteLine("Missed deadline @ t={0}.{1}s on instance code = {2}\n",
                span.Seconds, span.Milliseconds, dummy.code);
        }


        public override void on_requested_incompatible_qos(
            DDS.DataReader reader,
            DDS.RequestedIncompatibleQosStatus status) { }

        public override void on_sample_rejected(
            DDS.DataReader reader,
            ref DDS.SampleRejectedStatus status) { }

        public override void on_liveliness_changed(
            DDS.DataReader reader,
            ref DDS.LivelinessChangedStatus status) { }

        public override void on_sample_lost(
            DDS.DataReader reader,
            ref DDS.SampleLostStatus status) { }

        public override void on_subscription_matched(
            DDS.DataReader reader,
            ref DDS.SubscriptionMatchedStatus status) { }

        public override void on_data_available(DDS.DataReader reader)
        {
            deadline_contentfilterDataReader deadline_contentfilter_reader =
                (deadline_contentfilterDataReader)reader;

            try
            {
                deadline_contentfilter_reader.take(
                    data_seq,
                    info_seq,
                    DDS.ResourceLimitsQosPolicy.LENGTH_UNLIMITED,
                    DDS.SampleStateKind.ANY_SAMPLE_STATE,
                    DDS.ViewStateKind.ANY_VIEW_STATE,
                    DDS.InstanceStateKind.ANY_INSTANCE_STATE);
            }
            catch (DDS.Retcode_NoData)
            {
                return;
            }
            catch (DDS.Exception e)
            {
                Console.WriteLine("take error {0}", e);
                return;
            }

            // Declare and get DateTime values
            DateTime currentTime = System.DateTime.Now;
            TimeSpan span = currentTime.Subtract(initTime);

            System.Int32 data_length = data_seq.length;
            for (int i = 0; i < data_length; ++i)
            {
                if (info_seq.get_at(i).valid_data)
                {
                    //deadlineTypeSupport.print_data(data_seq.get_at(i));
                    Console.WriteLine("@ t={0}.{1}s, Instance{2}: <{3},{4}>\n",
                        span.Seconds, span.Milliseconds, data_seq.get_at(i).code,
                        data_seq.get_at(i).x, data_seq.get_at(i).y);
                }
            }

            try
            {
                deadline_contentfilter_reader.return_loan(data_seq, info_seq);
            }
            catch (DDS.Exception e)
            {
                Console.WriteLine("return loan error {0}", e);
            }
        }

        public deadline_contentfilterListener()
        {
            data_seq = new deadline_contentfilterSeq();
            info_seq = new DDS.SampleInfoSeq();
        }

        private deadline_contentfilterSeq data_seq;
        private DDS.SampleInfoSeq info_seq;
    };


    public static void Main(string[] args) {

        // --- Get domain ID --- //
        int domain_id = 0;
        if (args.Length >= 1) {
            domain_id = Int32.Parse(args[0]);
        }

        // --- Get max loop count; 0 means infinite loop  --- //
        int sample_count = 0;
        if (args.Length >= 2) {
            sample_count = Int32.Parse(args[1]);
        }

        /* Uncomment this to turn on additional logging
        NDDS.ConfigLogger.get_instance().set_verbosity_by_category(
            NDDS.LogCategory.NDDS_CONFIG_LOG_CATEGORY_API, 
            NDDS.LogVerbosity.NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
        */

        // --- Run --- //
        try {
            deadline_contentfilterSubscriber.subscribe(
                domain_id, sample_count);
        }
        catch(DDS.Exception) {
            Console.WriteLine("error in subscriber");
        }
    }

    static void subscribe(int domain_id, int sample_count) {

        // --- Create participant --- //

        /* To customize the participant QoS, use 
           the configuration file USER_QOS_PROFILES.xml */
        DDS.DomainParticipant participant =
            DDS.DomainParticipantFactory.get_instance().create_participant(
                domain_id,
                DDS.DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT, 
                null /* listener */,
                DDS.StatusMask.STATUS_MASK_NONE);
        if (participant == null) {
            shutdown(participant);
            throw new ApplicationException("create_participant error");
        }

        // --- Create subscriber --- //

        /* To customize the subscriber QoS, use 
           the configuration file USER_QOS_PROFILES.xml */
        DDS.Subscriber subscriber = participant.create_subscriber(
            DDS.DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (subscriber == null) {
            shutdown(participant);
            throw new ApplicationException("create_subscriber error");
        }

        // --- Create topic --- //

        /* Register the type before creating the topic */
        System.String type_name = deadline_contentfilterTypeSupport.get_type_name();
        try {
            deadline_contentfilterTypeSupport.register_type(
                participant, type_name);
        }
        catch(DDS.Exception e) {
            Console.WriteLine("register_type error {0}", e);
            shutdown(participant);
            throw e;
        }

        /* To customize the topic QoS, use 
           the configuration file USER_QOS_PROFILES.xml */
        DDS.Topic topic = participant.create_topic(
            "Example deadline_contentfilter",
            type_name,
            DDS.DomainParticipant.TOPIC_QOS_DEFAULT,
            null /* listener */,
            DDS.StatusMask.STATUS_MASK_NONE);
        if (topic == null) {
            shutdown(participant);
            throw new ApplicationException("create_topic error");
        }

        // --- Create reader --- //

        //// Start changes for Deadline
        // Set up content filtered topic to show interaction with deadline
        DDS.StringSeq parameters = new DDS.StringSeq(1);
        // need to specify length otherwise create_contentfilteredtopic will
        // throw an unhandled exception error!
        if (parameters.ensure_length(1, 1) == false)
        {
            Console.WriteLine("ensure_length error\n");
        }
        parameters.set_at(0, "2");

        DDS.ContentFilteredTopic cft = participant.create_contentfilteredtopic(
            "ContentFilteredTopic", topic, "code < %0", parameters);

        /* Create a data reader listener */
        deadline_contentfilterListener reader_listener =
            new deadline_contentfilterListener();

        /* To customize the data reader QoS, use 
           the configuration file USER_QOS_PROFILES.xml */
        DDS.DataReader reader = subscriber.create_datareader(
            cft,
            DDS.Subscriber.DATAREADER_QOS_DEFAULT,
            reader_listener,
            DDS.StatusMask.STATUS_MASK_ALL);
        if (reader == null) {
            shutdown(participant);
            reader_listener = null;
            throw new ApplicationException("create_datareader error");
        }


        /* If you want to change the DataReader's QoS programmatically rather than
         * using the XML file, you will need to add the following lines to your
         * code and comment out the create_datareader call above.
         *
         * In this case, we set the deadline period to 2 seconds to trigger
         * a deadline if the DataWriter does not update often enough, or if
         * the content-filter filters out data so there is no data available
         * with 2 seconds.
         */

        /* 
        DDS.DataReaderQos datareader_qos = new DDS.DataReaderQos();
        subscriber.get_default_datareader_qos(datareader_qos);
        if (datareader_qos == null)
        {
            shutdown(participant);
            reader_listener = null;
            throw new ApplicationException("get_default_datareader_qos error");
        }

        // Set deadline QoS to be 2 sec
        datareader_qos.deadline.period.sec = 2;
        datareader_qos.deadline.period.nanosec = 0;

        DDS.DataReader reader = subscriber.create_datareader(
            topic,
            datareader_qos, //DDS.Subscriber.DATAREADER_QOS_DEFAULT,
            reader_listener,
            DDS.StatusMask.STATUS_MASK_ALL);
        if (reader == null)
        {
            shutdown(participant);
            reader_listener = null;
            throw new ApplicationException("create_datareader error");
        }
        */ 

        // --- Wait for data --- //

        /* Main loop */
        const System.Int32 receive_period = 1000; // milliseconds
        for (int count=0;
             (sample_count == 0) || (count < sample_count);
             ++count) {
                 // After 10 seconds, change content filter to accept only
                 // instance 0

                 if (count == 10)
                 {
                     Console.WriteLine("Starting to filter out instance1\n");
                     parameters.set_at(0, "1");
                     cft.set_expression_parameters(parameters);
                 }
            System.Threading.Thread.Sleep(receive_period);
        }

        // --- Shutdown --- //

        /* Delete all entities */
        shutdown(participant);
        reader_listener = null;
    }


    static void shutdown(
        DDS.DomainParticipant participant) {

        /* Delete all entities */

        if (participant != null) {
            participant.delete_contained_entities();
            DDS.DomainParticipantFactory.get_instance().delete_participant(
                ref participant);
        }

        /* RTI Connext provides finalize_instance() method on
           domain participant factory for users who want to release memory
           used by the participant factory. Uncomment the following block of
           code for clean destruction of the singleton. */
        /*
        try {
            DDS.DomainParticipantFactory.finalize_instance();
        }
        catch(DDS.Exception e) {
            Console.WriteLine("finalize_instance error {0}", e);
            throw e;
        }
        */
    }
}


